We validate our proposed method against baselines and state-of-the-art methods using the AVD dataset [1]} following the evaluation protocol defined by the AVD Benchmark (AVDB) on the task of active object search in known environments (referred as Task 1a in the benchmark). AVD is the largest real-world dataset available for testing active visual search, containing scans of 14 real apartments recorded using a robot equipped with a RGB-D camera, so allowing for a virtual exploration of the environment.
